Map element extraction method and apparatus, and server
AssigneeTencent Technology (Shenzhen) Company Limited
InventorsMao Shu, Si Chen
Life of this patent
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Abstract
This application discloses a map element extraction method and apparatus, and a server. The map element extraction method includes obtaining a laser point cloud and an image of a target scene, the target scene including a map element; performing registration between the laser point cloud and the image to obtain a depth map of the image; performing image segmentation on the depth map of the image to obtain a segmented image of the map element in the depth map; and converting a two-dimensional location of the segmented image in the depth map to a three-dimensional location of the map element in the target scene according to a registration relationship between the laser point cloud and the image.
Claims18
A map element extraction method, performed by an electronic device, the method comprising:
- obtaining a laser point cloud and an image of a target scene, the target scene comprising a map element;
- performing registration between the laser point cloud and the image to obtain a depth map of the image;
- performing feature extraction on the depth map of the image to obtain a feature map corresponding to the image;
- performing class prediction on a pixel of the feature map to obtain a class of the pixel of the feature map;
- fitting pixels belonging to the same class in the feature map to form a segmented image of the map element in the depth map, the class corresponding to one type of map element;
- and
- converting a two-dimensional location of the segmented image in the depth map to a three-dimensional location of the map element in the target scene according to a registration relationship between the laser point cloud and the image.
An electronic device, comprising:
- a processor;
- and
- a memory, the memory storing computer-readable instructions, and the computer-readable instructions, when executed by the processor, implementing a map element extraction method, the method comprising:
- obtaining a laser point cloud and an image of a target scene, the target scene comprising a map element;
- performing registration between the laser point cloud and the image to obtain a depth map of the image;
- performing feature extraction on the depth map of the image to obtain a feature map corresponding to the image;
- performing class prediction on a pixel of the feature map to obtain a class of the pixel of the feature map;
- fitting pixels belonging to the same class in the feature map to form a segmented image of the map element in the depth map, the class corresponding to one type of map element;
- and
- converting a two-dimensional location of the segmented image in the depth map to a three-dimensional location of the map element in the target scene according to a registration relationship between the laser point cloud and the image.
A non-transitory computer-readable storage medium, storing a computer program, the computer program, when executed by a processor, causing the processor to implement a map element extraction method comprising:
- obtaining a laser point cloud and an image of a target scene, the target scene comprising a map element;
- performing registration between the laser point cloud and the image to obtain a depth map of the image;
- performing feature extraction on the depth map of the image to obtain a feature map corresponding to the image;
- performing class prediction on a pixel of the feature map to obtain a class of the pixel of the feature map;
- fitting pixels belonging to the same class in the feature map to form a segmented image of the map element in the depth map, the class corresponding to one type of map element;
- and
- converting a two-dimensional location of the segmented image in the depth map to a three-dimensional location of the map element in the target scene according to a registration relationship between the laser point cloud and the image.
Dependencies are inferred from the claim text.